Dynamixel port finding not working for Windows.

[diegoakel]

System Info

Function find_available_ports at lerobot/common/robot_devices/motors/dynamixel.py.

Information

• One of the scripts in the examples/ folder of LeRobot
• My own task or dataset (give details below)

Reproduction

Running python lerobot/common/robot_devices/motors/dynamixel.py on windows.

Expected behavior

It's written only for Linux and Mac I guess. It works with this change:

def find_available_ports():
    return [port.device for port in serial.tools.list_ports.comports()]

[eyast]

by any chance, are you able to proceed with the remaining of the tutorial? i.e., instantiate

leader_arm = DynamixelMotorsBus(
    port=COM8,
    motors={
        # name: (index, model)
        "shoulder_pan": (1, "xl330-m077"),
        "shoulder_lift": (2, "xl330-m077"),
        "elbow_flex": (3, "xl330-m077"),
        "wrist_flex": (4, "xl330-m077"),
        "wrist_roll": (5, "xl330-m077"),
        "gripper": (6, "xl330-m077"),
    },
)

In my case, I can the motors in Dynamixel wizard, but not through the python SDK. The wizard also found them on baudrate 57600, not 1_000_000

[Vacuame]

Thank you, it works! But I wonder if there's more code can't work in Windows——is it necessary to install Linux?

[diegoakel]

i have been doing everything on Windows! For now the only problems i've seen is this one and the tutorial to connect the phone webcam with windows through droid cam.